/********************************************************************************
 * Copyright 2013 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "ContactDetectorData.hpp"

using namespace rwsim::contacts;

ContactDetectorData::ContactDetectorData ()
{}

ContactDetectorData::ContactDetectorData (const ContactDetectorData& data)
{
    std::map< const ContactModel*,
              std::map< const ContactModel*, ContactStrategyData > >::const_iterator it;
    for (it = data._modelPairToData.begin (); it != data._modelPairToData.end (); it++) {
        std::map< const ContactModel*, ContactStrategyData >::const_iterator it2;
        for (it2 = it->second.begin (); it2 != it->second.end (); it2++) {
            _modelPairToData[it->first][it2->first] = it2->second;
        }
    }
}

ContactDetectorData::~ContactDetectorData ()
{
    clear ();
}

ContactDetectorData& ContactDetectorData::operator= (const ContactDetectorData& data)
{
    if (this != &data) {
        clear ();
        std::map< const ContactModel*,
                  std::map< const ContactModel*, ContactStrategyData > >::const_iterator it;
        for (it = data._modelPairToData.begin (); it != data._modelPairToData.end (); it++) {
            std::map< const ContactModel*, ContactStrategyData >::const_iterator it2;
            for (it2 = it->second.begin (); it2 != it->second.end (); it2++) {
                _modelPairToData[it->first][it2->first] = it2->second;
            }
        }
    }
    return *this;
}

void ContactDetectorData::clear ()
{
    _modelPairToData.clear ();
}

ContactStrategyData& ContactDetectorData::getStrategyData (const ContactModel* modelA,
                                                           const ContactModel* modelB)
{
    const ContactModel* first  = modelA;
    const ContactModel* second = modelB;
    if (first < second) {
        second = modelA;
        first  = modelB;
    }
    return _modelPairToData[first][second];
}
